Gravity balancing techniques allow for the reduction of energy consumptions in robotic systems. With appropriate arrangements, often including springs, overall potential a manipulator can be made configuration-independent, achieving an indifferent equilibrium any position. On other hand, such arrangements lose their effectiveness when some system parameters change, mass. This paper proposes met...

It is well known that passive walking robot can dynamically walk down with a steady gait by only powered gravity. The dynamics of passive walking has interesting characteristics of stability and bifurcation. Since passive gait is natural motion, investigation of passive walking may lead us to understand human locomotion and design for active walking robot. In this paper, the dynamics of passive...

There has been always a workspace problem with parallel mechanisms. We have proposed a parallel mechanism with linear passive joints to adjust link length. This parallel mechanism can have different workspaces by adjusting link length. When these workspaces are combined, it has larger workspace. We have tried to control the link lengths of this parallel mechanism not actively but passively usin...

In this work, we discuss the active or passive character of helicases. In the past years, several studies have used the theoretical framework proposed by Betterton and Julicher [Betterton, M.D. and Julicher, F. (2005) Opening of nucleic-acid double strands by helicases: active versus passive opening. Phys. Rev. E, 71, 11904-11911.] to analyse the unwinding data and assess the mechanism of the h...

SUMMARY Achieving energy-efficient and high-speed dynamic walking has become one of the main subjects of research in the area of robotic biped locomotion, and passive dynamic walking has attracted a great deal of attention as a solution to this. It is empirically known that the convex curve of the foot, which characterizes passive–dynamic walkers, has an important effect on increasing the walki...

As more is becoming understood about how the brain represents and computes with high-level spatial information, the prospect of constructing biologically-inspired robot controllers using these spatial representations has become apparent. Grid cells are particularly interesting in this regard, as they provide a general coordinate system of space. Artificial neural network models of grid cells sh...